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remove SHAPE_TYPE_CONVEX_HULL from libs and tests

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This commit is contained in:
Andrew Meadows 2015-04-14 14:54:43 -07:00
parent 9388ae4212
commit da9091a99d
6 changed files with 39 additions and 163 deletions
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140
libraries/physics/src/ShapeInfoUtil.cpp
View file

@ -14,107 +14,6 @@
#include "ShapeInfoUtil.h"
#include "BulletUtil.h"
int ShapeInfoUtil::toBulletShapeType(int shapeInfoType) {
int bulletShapeType = INVALID_SHAPE_PROXYTYPE;
switch(shapeInfoType) {
case SHAPE_TYPE_BOX:
bulletShapeType = BOX_SHAPE_PROXYTYPE;
break;
case SHAPE_TYPE_SPHERE:
bulletShapeType = SPHERE_SHAPE_PROXYTYPE;
break;
case SHAPE_TYPE_CAPSULE_Y:
bulletShapeType = CAPSULE_SHAPE_PROXYTYPE;
break;
case SHAPE_TYPE_CONVEX_HULL:
bulletShapeType = CONVEX_HULL_SHAPE_PROXYTYPE;
break;
case SHAPE_TYPE_COMPOUND:
bulletShapeType = COMPOUND_SHAPE_PROXYTYPE;
break;
}
return bulletShapeType;
}
int ShapeInfoUtil::fromBulletShapeType(int bulletShapeType) {
int shapeInfoType = SHAPE_TYPE_NONE;
switch(bulletShapeType) {
case BOX_SHAPE_PROXYTYPE:
shapeInfoType = SHAPE_TYPE_BOX;
break;
case SPHERE_SHAPE_PROXYTYPE:
shapeInfoType = SHAPE_TYPE_SPHERE;
break;
case CAPSULE_SHAPE_PROXYTYPE:
shapeInfoType = SHAPE_TYPE_CAPSULE_Y;
break;
case CONVEX_HULL_SHAPE_PROXYTYPE:
shapeInfoType = SHAPE_TYPE_CONVEX_HULL;
break;
case COMPOUND_SHAPE_PROXYTYPE:
shapeInfoType = SHAPE_TYPE_COMPOUND;
break;
}
return shapeInfoType;
}
void ShapeInfoUtil::collectInfoFromShape(const btCollisionShape* shape, ShapeInfo& info) {
if (shape) {
int type = ShapeInfoUtil::fromBulletShapeType(shape->getShapeType());
switch(type) {
case SHAPE_TYPE_BOX: {
const btBoxShape* boxShape = static_cast<const btBoxShape*>(shape);
info.setBox(bulletToGLM(boxShape->getHalfExtentsWithMargin()));
}
break;
case SHAPE_TYPE_SPHERE: {
const btSphereShape* sphereShape = static_cast<const btSphereShape*>(shape);
info.setSphere(sphereShape->getRadius());
}
break;
case SHAPE_TYPE_CONVEX_HULL: {
const btConvexHullShape* convexHullShape = static_cast<const btConvexHullShape*>(shape);
const int numPoints = convexHullShape->getNumPoints();
const btVector3* btPoints = convexHullShape->getUnscaledPoints();
QVector<QVector<glm::vec3>> points;
QVector<glm::vec3> childPoints;
for (int i = 0; i < numPoints; i++) {
glm::vec3 point(btPoints->getX(), btPoints->getY(), btPoints->getZ());
childPoints << point;
}
points << childPoints;
info.setConvexHulls(points);
}
break;
case SHAPE_TYPE_COMPOUND: {
const btCompoundShape* compoundShape = static_cast<const btCompoundShape*>(shape);
const int numChildShapes = compoundShape->getNumChildShapes();
QVector<QVector<glm::vec3>> points;
for (int i = 0; i < numChildShapes; i ++) {
const btCollisionShape* childShape = compoundShape->getChildShape(i);
const btConvexHullShape* convexHullShape = static_cast<const btConvexHullShape*>(childShape);
const int numPoints = convexHullShape->getNumPoints();
const btVector3* btPoints = convexHullShape->getUnscaledPoints();
QVector<glm::vec3> childPoints;
for (int j = 0; j < numPoints; j++) {
glm::vec3 point(btPoints->getX(), btPoints->getY(), btPoints->getZ());
childPoints << point;
}
points << childPoints;
}
info.setConvexHulls(points);
}
break;
default: {
info.clear();
}
break;
}
} else {
info.clear();
}
}
btCollisionShape* ShapeInfoUtil::createShapeFromInfo(const ShapeInfo& info) {
btCollisionShape* shape = NULL;
@ -135,33 +34,34 @@ btCollisionShape* ShapeInfoUtil::createShapeFromInfo(const ShapeInfo& info) {
shape = new btCapsuleShape(radius, height);
}
break;
case SHAPE_TYPE_CONVEX_HULL: {
auto hull = new btConvexHullShape();
const QVector<QVector<glm::vec3>>& points = info.getPoints();
foreach (glm::vec3 point, points[0]) {
btVector3 btPoint(point[0], point[1], point[2]);
hull->addPoint(btPoint, false);
}
hull->recalcLocalAabb();
shape = hull;
}
break;
case SHAPE_TYPE_COMPOUND: {
auto compound = new btCompoundShape();
const QVector<QVector<glm::vec3>>& points = info.getPoints();
btTransform trans;
trans.setIdentity();
foreach (QVector<glm::vec3> hullPoints, points) {
uint32_t numSubShapes = info.getNumSubShapes();
if (numSubShapes == 1) {
auto hull = new btConvexHullShape();
foreach (glm::vec3 point, hullPoints) {
const QVector<QVector<glm::vec3>>& points = info.getPoints();
foreach (glm::vec3 point, points[0]) {
btVector3 btPoint(point[0], point[1], point[2]);
hull->addPoint(btPoint, false);
}
hull->recalcLocalAabb();
compound->addChildShape (trans, hull);
shape = hull;
} else {
assert(numSubShapes > 1);
auto compound = new btCompoundShape();
btTransform trans;
trans.setIdentity();
foreach (QVector<glm::vec3> hullPoints, points) {
auto hull = new btConvexHullShape();
foreach (glm::vec3 point, hullPoints) {
btVector3 btPoint(point[0], point[1], point[2]);
hull->addPoint(btPoint, false);
}
hull->recalcLocalAabb();
compound->addChildShape (trans, hull);
}
shape = compound;
}
shape = compound;
}
break;
}

8
libraries/physics/src/ShapeInfoUtil.h
View file

@ -19,16 +19,10 @@
// translates between ShapeInfo and btShape
// TODO: rename this to ShapeFactory
namespace ShapeInfoUtil {
// XXX is collectInfoFromShape no longer strictly needed?
void collectInfoFromShape(const btCollisionShape* shape, ShapeInfo& info);
btCollisionShape* createShapeFromInfo(const ShapeInfo& info);
// TODO? just use bullet shape types everywhere?
int toBulletShapeType(int shapeInfoType);
int fromBulletShapeType(int bulletShapeType);
};
#endif // hifi_ShapeInfoUtil_h

20
libraries/shared/src/ShapeInfo.cpp
View file

@ -37,12 +37,6 @@ void ShapeInfo::setParams(ShapeType type, const glm::vec3& halfExtents, QString
_halfExtents = glm::vec3(radius);
break;
}
case SHAPE_TYPE_CONVEX_HULL:
_url = QUrl(url);
// halfExtents aren't used by convex-hull or compound convex-hull except as part of
// the generation of the key for the ShapeManager.
_halfExtents = halfExtents;
break;
case SHAPE_TYPE_COMPOUND:
_url = QUrl(url);
_halfExtents = halfExtents;
@ -78,12 +72,8 @@ void ShapeInfo::setEllipsoid(const glm::vec3& halfExtents) {
}
void ShapeInfo::setConvexHulls(const QVector<QVector<glm::vec3>>& points) {
if (points.size() == 1) {
_type = SHAPE_TYPE_CONVEX_HULL;
} else {
_type = SHAPE_TYPE_COMPOUND;
}
_points = points;
_type = (_points.size() > 0) ? SHAPE_TYPE_COMPOUND : SHAPE_TYPE_NONE;
_doubleHashKey.clear();
}
@ -95,6 +85,14 @@ void ShapeInfo::setCapsuleY(float radius, float halfHeight) {
_doubleHashKey.clear();
}
uint32_t ShapeInfo::getNumSubShapes() const {
if (_type == SHAPE_TYPE_NONE) {
return 0;
} else if (_type == SHAPE_TYPE_COMPOUND) {
return _points.size();
}
return 1;
}
float ShapeInfo::computeVolume() const {
const float DEFAULT_VOLUME = 1.0f;
float volume = DEFAULT_VOLUME;

2
libraries/shared/src/ShapeInfo.h
View file

@ -24,7 +24,6 @@ enum ShapeType {
SHAPE_TYPE_BOX,
SHAPE_TYPE_SPHERE,
SHAPE_TYPE_ELLIPSOID,
SHAPE_TYPE_CONVEX_HULL,
SHAPE_TYPE_PLANE,
SHAPE_TYPE_COMPOUND,
SHAPE_TYPE_CAPSULE_X,
@ -52,6 +51,7 @@ public:
const glm::vec3& getHalfExtents() const { return _halfExtents; }
const QVector<QVector<glm::vec3>>& getPoints() const { return _points; }
uint32_t getNumSubShapes() const;
void clearPoints () { _points.clear(); }
void appendToPoints (const QVector<glm::vec3>& newPoints) { _points << newPoints; }

16
tests/physics/src/ShapeInfoTests.cpp
View file

@ -147,9 +147,7 @@ void ShapeInfoTests::testBoxShape() {
std::cout << __FILE__ << ":" << __LINE__ << " ERROR: NULL Box shape" << std::endl;
}
ShapeInfo otherInfo;
ShapeInfoUtil::collectInfoFromShape(shape, otherInfo);
ShapeInfo otherInfo = info;
DoubleHashKey otherKey = otherInfo.getHash();
if (key.getHash() != otherKey.getHash()) {
std::cout << __FILE__ << ":" << __LINE__
@ -172,9 +170,7 @@ void ShapeInfoTests::testSphereShape() {
btCollisionShape* shape = ShapeInfoUtil::createShapeFromInfo(info);
ShapeInfo otherInfo;
ShapeInfoUtil::collectInfoFromShape(shape, otherInfo);
ShapeInfo otherInfo = info;
DoubleHashKey otherKey = otherInfo.getHash();
if (key.getHash() != otherKey.getHash()) {
std::cout << __FILE__ << ":" << __LINE__
@ -198,9 +194,7 @@ void ShapeInfoTests::testCylinderShape() {
btCollisionShape* shape = ShapeInfoUtil::createShapeFromInfo(info);
ShapeInfo otherInfo;
ShapeInfoUtil::collectInfoFromShape(shape, otherInfo);
ShapeInfo otherInfo = info;
DoubleHashKey otherKey = otherInfo.getHash();
if (key.getHash() != otherKey.getHash()) {
std::cout << __FILE__ << ":" << __LINE__
@ -225,9 +219,7 @@ void ShapeInfoTests::testCapsuleShape() {
btCollisionShape* shape = ShapeInfoUtil::createShapeFromInfo(info);
ShapeInfo otherInfo;
ShapeInfoUtil::collectInfoFromShape(shape, otherInfo);
ShapeInfo otherInfo = info;
DoubleHashKey otherKey = otherInfo.getHash();
if (key.getHash() != otherKey.getHash()) {
std::cout << __FILE__ << ":" << __LINE__

16
tests/physics/src/ShapeManagerTests.cpp
View file

@ -187,9 +187,7 @@ void ShapeManagerTests::addBoxShape() {
ShapeManager shapeManager;
btCollisionShape* shape = shapeManager.getShape(info);
ShapeInfo otherInfo;
ShapeInfoUtil::collectInfoFromShape(shape, otherInfo);
ShapeInfo otherInfo = info;
btCollisionShape* otherShape = shapeManager.getShape(otherInfo);
if (shape != otherShape) {
std::cout << __FILE__ << ":" << __LINE__
@ -205,9 +203,7 @@ void ShapeManagerTests::addSphereShape() {
ShapeManager shapeManager;
btCollisionShape* shape = shapeManager.getShape(info);
ShapeInfo otherInfo;
ShapeInfoUtil::collectInfoFromShape(shape, otherInfo);
ShapeInfo otherInfo = info;
btCollisionShape* otherShape = shapeManager.getShape(otherInfo);
if (shape != otherShape) {
std::cout << __FILE__ << ":" << __LINE__
@ -225,9 +221,7 @@ void ShapeManagerTests::addCylinderShape() {
ShapeManager shapeManager;
btCollisionShape* shape = shapeManager.getShape(info);
ShapeInfo otherInfo;
ShapeInfoUtil::collectInfoFromShape(shape, otherInfo);
ShapeInfo otherInfo = info;
btCollisionShape* otherShape = shapeManager.getShape(otherInfo);
if (shape != otherShape) {
std::cout << __FILE__ << ":" << __LINE__
@ -246,9 +240,7 @@ void ShapeManagerTests::addCapsuleShape() {
ShapeManager shapeManager;
btCollisionShape* shape = shapeManager.getShape(info);
ShapeInfo otherInfo;
ShapeInfoUtil::collectInfoFromShape(shape, otherInfo);
ShapeInfo otherInfo = info;
btCollisionShape* otherShape = shapeManager.getShape(otherInfo);
if (shape != otherShape) {
std::cout << __FILE__ << ":" << __LINE__